U.S. patent number 10,847,990 [Application Number 15/939,472] was granted by the patent office on 2020-11-24 for non-contact power transmission system.
This patent grant is currently assigned to HONDA MOTOR CO., LTD.. The grantee listed for this patent is HONDA MOTOR CO., LTD.. Invention is credited to Akira Saita.
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United States Patent |
10,847,990 |
Saita |
November 24, 2020 |
Non-contact power transmission system
Abstract
In a non-contact power transmission system, the radial distance
of a power reception coil relative to a power transmission coil is
detected on the basis of the weak voltage value corresponding to
the amount of weak power received by the power reception coil, and
moreover the moving amount is detected on the basis of the change
in level of the detected weak voltage value and furthermore, the
moving direction is detected. Thus, the position (distance) of the
power reception coil relative to the power transmission coil is
detected.
Inventors: |
Saita; Akira (Wako,
JP) |
Applicant: |
Name |
City |
State |
Country |
Type |
HONDA MOTOR CO., LTD. |
Tokyo |
N/A |
JP |
|
|
Assignee: |
HONDA MOTOR CO., LTD. (Tokyo,
JP)
|
Family
ID: |
1000005205654 |
Appl.
No.: |
15/939,472 |
Filed: |
March 29, 2018 |
Prior Publication Data
|
|
|
|
Document
Identifier |
Publication Date |
|
US 20180287415 A1 |
Oct 4, 2018 |
|
Foreign Application Priority Data
|
|
|
|
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Mar 31, 2017 [JP] |
|
|
2017-073245 |
|
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
H02J
7/0013 (20130101); B60L 53/12 (20190201); H02J
50/90 (20160201); B60L 53/39 (20190201); H02J
50/10 (20160201); B60L 2250/16 (20130101); B60L
53/37 (20190201); Y02T 10/70 (20130101) |
Current International
Class: |
H02J
50/90 (20160101); H02J 50/10 (20160101); B60L
53/39 (20190101); B60L 53/37 (20190101); H02J
7/00 (20060101); H02J 7/02 (20160101); B60L
53/12 (20190101) |
Field of
Search: |
;320/109,108 |
References Cited
[Referenced By]
U.S. Patent Documents
Foreign Patent Documents
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|
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2008-074321 |
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Apr 2008 |
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JP |
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2012-208599 |
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Oct 2012 |
|
JP |
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2015-126658 |
|
Jul 2015 |
|
JP |
|
5937631 |
|
Aug 2015 |
|
JP |
|
2015-201914 |
|
Nov 2015 |
|
JP |
|
2017-028953 |
|
Feb 2017 |
|
JP |
|
2016/121022 |
|
Aug 2016 |
|
WO |
|
Other References
Japanese Office Action for Japanese Patent Application No.
2017-073245 dated Sep. 25, 2018. cited by applicant.
|
Primary Examiner: Diao; M Baye
Attorney, Agent or Firm: Amin, Turocy & Watson, LLP
Claims
What is claimed is:
1. A non-contact power transmission system comprising a charging
station including a power transmission unit configured to transmit
a weak power, and a vehicle including a power reception unit
configured to receive the weak power without contact, the vehicle
comprising a memory and a central processing unit, the central
processing unit: detects a weak voltage value of the weak power
received by the power reception unit; detects a moving amount of
the vehicle; detects a moving direction of the vehicle; and
calculates a weak voltage integrated value corresponding to an
integrated value of the weak voltage value that is detected,
wherein a weak voltage integrated value characteristic expressing a
correspondence relation between the weak voltage integrated value
and a distance from the power transmission unit to the power
reception unit is stored in the memory in advance, and the central
processing unit further sets a position at which the weak voltage
value that is detected or the integrated value of the weak voltage
value that is detected has increased from zero to an initial
position of the power reception unit; calculates a position of the
power reception unit by calculating the distance from the initial
position on a basis of the moving amount and the moving direction;
and detects a distance between the position of the power reception
unit and the power transmission unit with reference to the weak
voltage integrated value characteristic.
2. The non-contact power transmission system according to claim 1,
the control unit of the vehicle further comprising: a significance
determination unit configured to determine whether the weak voltage
value detected by the voltage value detection unit is significant;
and an initial position/parameter setting unit, wherein: when the
voltage value detected by the voltage value detection unit has
increased from zero while the vehicle travels toward the power
transmission unit in order to detect the weak power, the
significance determination unit is configured to determine that the
weak voltage value is significant; and the initial
position/parameter setting unit is configured to set a position at
which it is determined that the weak voltage value is significant
as an initial position of the power reception unit, and reset a
parameter.
3. The non-contact power transmission system according to claim 2,
the control unit further comprising a voltage value characteristic
storage unit configured to store in advance a weak voltage value
characteristic expressing a correspondence relation between the
weak voltage value and a distance from the power transmission unit
to the power reception unit, wherein the moving amount detection
unit is configured to detect the distance from the power
transmission unit to the power reception unit by detecting the
moving amount from the initial position to the power reception unit
with reference to the weak voltage value characteristic using the
weak voltage value detected by the voltage value detection unit as
an argument.
4. The non-contact power transmission system according to claim 3,
the control unit further comprising: a weak voltage integrated
value calculation unit configured to calculate a weak voltage
integrated value corresponding to an integrated value of the weak
voltage value that is detected; and a voltage integrated value
characteristic storage unit configured to store in advance a weak
voltage integrated value characteristic expressing a correspondence
relation between the weak voltage integrated value and the distance
from the power transmission unit to the power reception unit,
wherein the distance from the power transmission unit to the power
reception unit is detected by detecting the moving amount from the
initial position with reference to the weak voltage integrated
value characteristic.
5. The non-contact power transmission system according to claim 1,
the control unit of the vehicle further comprising: a significance
determination unit configured to determine whether the weak voltage
value detected by the voltage value detection unit is significant;
an initial position determining differentiation unit configured to
obtain a differential value of the weak voltage value detected by
the voltage value detection unit; and an initial position/parameter
setting unit, wherein: the significance determination unit is
configured to determine that the weak voltage value is significant
when a differential value of the voltage value detected by the
voltage value detection unit, which is obtained by the initial
position determining differentiation unit, has increased from zero
while the vehicle travels toward the power transmission unit in
order to detect the weak power; and the initial position/parameter
setting unit is configured to set a position at which it is
determined that the weak voltage value is significant as an initial
position of the power reception unit, and reset a parameter.
6. The non-contact power transmission system according to claim 1,
a weak voltage value characteristic expressing a correspondence
relation between the weak voltage value and the distance from the
power transmission unit to the power reception unit is stored in
the memory in advance, wherein in a very-close-distance region of
the power transmission unit where the weak voltage value increases
as the moving amount increases, the distance from the power
transmission unit to the position of the power reception unit is
calculated with reference to the weak voltage value characteristic,
and in a separation distance region that is farther than the
very-close-distance region and that includes a region where the
weak voltage value does not increase although the moving amount
increases, the distance from the power transmission unit to the
position of the power reception unit is calculated with reference
to the weak voltage integrated value characteristic.
7. The non-contact power transmission system according to claim 1,
wherein when a direction where the power reception unit approaches
the power transmission unit is referred to as an approaching
direction and a direction where the power reception unit is
separated from the power transmission unit is referred to as a
separation direction, the central processing unit is configured to
determine whether a direction of the power reception unit is the
approaching direction or the separation direction depending on a
position differential value of the weak voltage value in a region
where the weak voltage value is more than or equal to a
predetermined voltage value, and determine whether the direction is
the approaching direction or the separation direction depending on
the weak voltage integrated value in a region where the weak
voltage value is less than the predetermined voltage value.
8. The non-contact power transmission system according to claim 1,
wherein the vehicle comprises a display unit and the central
processing unit further comprising a notification unit configured
to set an optimum vehicle speed to position the power reception
unit at the power transmission unit, and notify an occupant of the
optimum vehicle speed or an order related to the vehicle speed
using the display unit.
9. The non-contact power transmission system according to claim 8,
wherein the central processing unit is configured to cause the
display unit to display a target accelerator pedal opening to
achieve the optimum vehicle speed and a current accelerator pedal
opening, as the order related to the vehicle speed.
10. The non-contact power transmission system according to claim 9,
wherein the vehicle comprises a steering angle detection sensor
configured to detect a steering angle of the vehicle, wherein the
central processing unit is configured to cause the display unit to
display a steering operating direction of the vehicle on a basis of
the detected steering angle and a position of the power reception
unit relative to the power transmission unit.
Description
CROSS-REFERENCE TO RELATED APPLICATION
This application is based upon and claims the benefit of priority
from Japanese Patent Application No. 2017-073245 filed on Mar. 31,
2017, the contents of which are incorporated herein by
reference.
BACKGROUND OF THE INVENTION
Field of the Invention
The present invention relates to a non-contact power transmission
system that positions a vehicle including an energy storage device
with respect to a charging station.
Description of the Related Art
In this type of non-contact power transmission system, the vehicle
is positioned at the charging station and then main charging of the
energy storage device of the vehicle is performed with a steady
power (normal power) transmitted from the charging station.
The positioning is performed before the main charging, and in this
positioning, a weak power for positioning is transmitted from the
charging station from the viewpoints of power saving,
electromagnetic interface (EMI) suppression, and the like.
The vehicle having received the weak power travels for positioning
on the basis of the weak power so as to be positioned at the
charging station.
The vehicle having been positioned performs the main charging of
the energy storage device of the vehicle without contact, with the
steady power that is large and is switched from the weak power at
the position of the charging station.
For example, Japanese Patent No. 5937631 (hereinafter referred to
as JP 5937631 B) discloses a non-contact power transmission system
that transmits a weak power from a power transmission unit of a
charging station having received a power transmission request
signal from a vehicle and at the time of a start of a detection of
the weak power in a power reception unit of the vehicle, performs
positioning at the charging station (power transmission unit) on
the basis of the intensity of the weak power (power reception
voltage) ([0029]) in JP 5937631 B).
SUMMARY OF THE INVENTION
According to JP 5937631 B, a distance detection unit detects a
distance between the power transmission unit and the power
reception unit on the basis of the power reception voltage
generated at opposite ends of a resistor by the weak power ([0039],
[0040], FIG. 1, and FIG. 2 in JP 5937631 B).
In addition, JP 5937631 B discloses that when the level of the
power reception voltage exceeds a threshold, a display unit is
notified of a successful completion of positioning, the positioning
is terminated, the transmission of the weak power is stopped, and
the transmission power is increased to perform the main charging
([0089], [0090], [0097] in JP 5937631 B).
However, when the distance between the power transmission unit and
the power reception unit is simply detected, for example, the power
transmission unit and the power reception unit may be displayed
inversely in an in-vehicle display unit, and in this case, an
occupant such as a driver feels a sense of discomfort.
In addition, when the level of the power reception voltage exceeds
the threshold, positioning is terminated and then, the main
charging is performed. In this case, it is highly likely that the
power reception efficiency (reception power/transmission power) in
the main charging is not optimal and the power is wasted. In the
practical application, it has been demonstrated that the power
reception efficiency deteriorates by 20% or more if a center of the
power reception unit and a center of the power transmission unit
are shifted by several centimeters.
The present invention has been made in view of the above, and an
object is to provide a non-contact power transmission system that
can accurately detect a position (distance) of the power reception
unit relative to the power transmission unit.
Another object of the present invention is to provide the
non-contact power transmission system that can optimize the
charging efficiency for an energy storage device of a vehicle.
A non-contact power transmission system according to the present
invention includes a charging station with a power transmission
unit configured to transmit a weak power, and a vehicle including a
power reception unit configured to receive the weak power without
contact, a control unit of the vehicle including: a voltage value
detection unit configured to detect a weak voltage value of the
weak power received by the power reception unit; a moving amount
detection unit configured to detect a moving amount of the vehicle;
and a moving direction detection unit configured to detect a moving
direction of the vehicle, wherein a position of the power reception
unit relative to the power transmission unit is detected on a basis
of the weak voltage value, the moving amount, and the moving
direction that are detected.
According to the present invention, on the basis of the detected
weak voltage value, a distance (radial distance) from the power
transmission unit to the power reception unit is detected, and
moreover the moving amount and the moving direction of the vehicle
are detected. Thus, a two-dimensional relative position of the
power reception unit to the power transmission unit can be
accurately detected.
In this case, the control unit of the vehicle may further include a
significance determination unit configured to determine whether the
weak voltage value detected by the voltage value detection unit is
significant, and an initial position/parameter setting unit,
wherein: when the voltage value detected by the voltage value
detection unit has increased from zero while the vehicle travels
toward the power transmission unit in order to detect the weak
power, the significance determination unit may be configured to
determine that the weak voltage value is significant; and the
initial position/parameter setting unit may be configured to set a
position at which it is determined that the weak voltage value is
significant as an initial position of the power reception unit, and
reset a parameter.
According to the present invention, the distance from the power
transmission unit where the weak voltage value becomes significant
is obtained in advance relative to the power reception unit with a
predetermined height (distance between power transmission unit and
power reception unit when centers coincide with each other in plan
view) and a predetermined shape; therefore, when the weak voltage
value is detected, the detected position is set to an initial
position of the power reception unit and the parameter is reset
(set to zero). After that, the vehicle is driven toward the center
of the power transmission unit by a known distance so that the
power reception unit is moved; thus, the vehicle can be positioned
accurately at a position where the power reception efficiency of
the main charging is the optimum (position where the center of the
power reception unit coincides with the center of the power
transmission unit in plan view).
In other words, the distance to the power transmission unit is
shortened while the position of the power reception unit relative
to the power transmission unit is known, so that positioning can be
performed certainly.
The control unit of the vehicle may further include: a significance
determination unit configured to determine whether the weak voltage
value detected by the voltage value detection unit is significant;
an initial position determining differentiation unit configured to
obtain a differential value of the weak voltage value detected by
the voltage value detection unit; and an initial position/parameter
setting unit, wherein: the significance determination unit may be
configured to determine that the weak voltage value is significant
when a differential value of the voltage value detected by the
voltage value detection unit, which is obtained by the initial
position determining differentiation unit, has increased from zero
while the vehicle travels toward the power transmission unit in
order to detect the weak power; and the initial position/parameter
setting unit may be configured to set a position at which it is
determined that the weak voltage value is significant as an initial
position of the power reception unit, and reset a parameter.
Even in this case, the distance from the power transmission unit
where the weak voltage value becomes significant is obtained in
advance relative to the power reception unit with the predetermined
height (distance between power transmission unit and power
reception unit when centers coincide with each other in plan view)
and the predetermined shape; therefore, when an initial position
determining differential value of the voltage value has increased
from zero, the detected position is set to the initial position of
the power reception unit and the parameter is reset because it is
regarded that the weak voltage value is detected. After that, the
vehicle is driven toward the center of the power transmission unit
by a known distance so that the power reception unit is moved;
thus, the vehicle can be positioned accurately at a position where
the power reception efficiency of the main charging is the optimum
(position where the center of the power reception unit coincides
with the center of the power transmission unit in plan view).
In other words, the distance to the power transmission unit is
shortened while the position of the power reception unit relative
to the power transmission unit is known, so that positioning can be
performed certainly.
Note that if the differential value is a time differential value,
the significance can be determined and the initial position can be
set during the travel, and if the differential value is a position
differential value, the significance can be determined and the
initial position can be set regardless of vehicle speed.
In this case, the control unit may further include a voltage value
characteristic storage unit configured to store in advance a weak
voltage value characteristic expressing a correspondence relation
between the weak voltage value and a distance from the power
transmission unit to the power reception unit, wherein the moving
amount detection unit may be configured to detect the distance from
the power transmission unit to the power reception unit by
detecting the moving amount from the initial position to the power
reception unit with reference to the weak voltage value
characteristic using the weak voltage value detected by the voltage
value detection unit as an argument.
According to the present invention, the weak voltage value
characteristic is referred to by using the detected weak voltage
value as an argument, and thus, the distance from the power
transmission unit to the power reception unit is detected.
Therefore, the accurate position (distance) of the power reception
unit relative to the power transmission unit can be obtained.
In the weak voltage value characteristic, the weak voltage value
becomes a maximum value when the position of the power reception
unit coincides with the position of the power transmission unit;
therefore, by stopping the vehicle when the maximum value is
detected, positioning can be terminated at the position where the
power reception efficiency of the main charging is the optimum
(maximum).
The control unit may further include: a weak voltage integrated
value calculation unit configured to calculate a weak voltage
integrated value corresponding to an integrated value of the weak
voltage value that is detected; and a voltage integrated value
characteristic storage unit configured to store in advance a weak
voltage integrated value characteristic expressing a correspondence
relation between the weak voltage integrated value and the distance
from the power transmission unit to the power reception unit,
wherein the distance from the power transmission unit to the power
reception unit may be detected by detecting the moving amount from
the initial position with reference to the weak voltage integrated
value characteristic.
According to the present invention, even if there is a place
(position) in a route of a straight road connecting between the
initial position and the power transmission unit where the
electromagnetic coupling degree between the power transmission unit
and the power reception unit increases or decreases, the weak
voltage integrated value monotonically increases because the weak
voltage value is a positive value. Therefore, by detecting the
moving amount from the initial position with reference to the weak
voltage integrated value characteristic, the distance from the
power transmission unit to the power reception unit can be detected
certainly.
The control unit may further include: a weak voltage integrated
value calculation unit configured to calculate a weak voltage
integrated value corresponding to an integrated value of the weak
voltage value that is detected; and a voltage integrated value
characteristic storage unit configured to store in advance a weak
voltage integrated value characteristic expressing a correspondence
relation between the weak voltage integrated value and the distance
from the power transmission unit to the power reception unit,
wherein in a very-close-distance region of the power transmission
unit where the weak voltage value increases as the moving amount
increases, the distance from the power transmission unit may be
calculated with reference to the weak voltage value characteristic,
and in a separation distance region that is farther than the
very-close-distance region and that includes a region where the
weak voltage value does not increase although the moving amount
increases, the distance from the power transmission unit may be
calculated with reference to the weak voltage integrated value
characteristic.
In a region where the weak voltage value in the weak voltage value
characteristic does not increase although the distance between the
power transmission unit and the power reception unit becomes
shorter, the distance to the power reception unit can be detected
with reference to the weak voltage integrated value characteristic
obtained by integrating the weak voltage value characteristic;
thus, the distance from the power transmission unit to the power
reception unit can be detected with high robustness.
In this case, in the very-close-distance region, the amount of
increase of the weak voltage value (position increase amount) that
increases monotonically in accordance with the increase of the
moving amount increases, and when the position of the power
transmission unit and the position of the power reception unit
coincide with each other in the plan view, the maximum value and
the position increase amount become zero. Therefore, for example,
by obtaining a point of inflection (position where the differential
value changes from the positive value to zero) from the position
differential value of the weak voltage value, the positioning can
be performed more accurately, and the charging can be performed at
the maximum transmission efficiency position. Accordingly, the
charging efficiency can be optimized.
When a direction where the power reception unit approaches the
power transmission unit is referred to as an approaching direction
and a direction where the power reception unit is separated from
the power transmission unit is referred to as a separation
direction, the control unit may be configured to determine whether
a direction of the power reception unit is the approaching
direction or the separation direction depending on a position
differential value of the weak voltage value in a region where the
weak voltage value is more than or equal to a predetermined voltage
value, and determine whether the direction is the approaching
direction or the separation direction depending on the weak voltage
integrated value in a region where the weak voltage value is less
than the predetermined voltage value.
Thus, whether the power reception unit moves to the approaching
direction toward (direction to get close to) the power transmission
unit or to the separation direction (direction to go away) can be
determined certainly. Therefore, for example, it is possible to
prevent the power transmission unit and the power reception unit
from being displayed inversely in an in-vehicle display unit.
The control unit may further include a notification unit configured
to set an optimum vehicle speed to position the power reception
unit at the power transmission unit, and notify an occupant of the
optimum vehicle speed or an order related to the vehicle speed.
In this manner, the occupant's operation of the accelerator pedal
for positioning can be appropriately assisted.
In addition, the vehicle may further include a display unit as the
notification unit, wherein the control unit may be configured to
cause the display unit to display a target accelerator pedal
opening to achieve the optimum vehicle speed and a current
accelerator pedal opening, as the order related to the vehicle
speed.
In this manner, by displaying the target accelerator pedal opening
and the current accelerator pedal opening at the same time in the
display unit, the occupant's operation of the accelerator pedal for
positioning can be assisted more specifically so that the occupant
can easily understand.
In addition, the control unit may include a steering angle
detection sensor configured to detect a steering angle of the
vehicle, wherein the control unit may be configured to cause the
display unit to display a steering operating direction of the
vehicle on a basis of the detected steering angle and a position of
the power reception unit relative to the power transmission
unit.
By displaying the steering operating direction of the vehicle in
the display unit, the occupant's steering operation for positioning
can be assisted more specifically so that the occupant can easily
understand.
According to the present invention, the position (distance) of the
power reception unit relative to the power transmission unit can be
accurately detected.
Furthermore, according to the present invention, the charging
efficiency for the energy storage device of the vehicle can be
optimized.
The above and other objects, features, and advantages of the
present invention will become more apparent from the following
description when taken in conjunction with the accompanying
drawings in which a preferred embodiment of the present invention
is shown by way of illustrative example.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a schematic side view of a non-contact power transmission
system according to an embodiment;
FIG. 2 is a schematic perspective view of the non-contact power
transmission system illustrated in FIG. 1;
FIG. 3A is a schematic plan view illustrating a state that a power
reception pad is positioned accurately at a power transmission
pad;
FIG. 3B is a schematic plan view illustrating a state that the
power reception pad is deviated in a y-axis direction;
FIG. 3C is a schematic plan view illustrating a state that the
power reception pad is within a very-close-distance region;
FIG. 4 is a function block diagram of the vehicle;
FIG. 5 is a schematic plan view for describing positioning;
FIG. 6 is a characteristic explanatory diagram of a weak voltage
value characteristic and a weak voltage integrated value
characteristic;
FIG. 7 is an explanatory diagram illustrating an example of an
image for parking assistance;
FIG. 8 is an explanatory diagram illustrating another example of
the image for parking assistance;
FIG. 9 is a characteristic explanatory diagram in which the weak
voltage value characteristic is drawn to both positive and negative
sides of an origin;
FIG. 10A is a schematic plan view illustrating the vehicle at an
initial position;
FIG. 10B is a schematic plan view illustrating the vehicle at a
position in the middle of positioning;
FIG. 11 is a schematic plan view for describing a process of
estimating a y-axis moving amount from a vehicle moving amount;
FIG. 12 is a characteristic explanatory diagram for describing the
process of estimating the y-axis moving amount from the vehicle
moving amount;
FIG. 13 is an explanatory view for obtaining position coordinates
of the vehicle by expressions;
FIG. 14 is an overall flowchart of a relative position detection
process;
FIG. 15 is a detailed flowchart for describing calculation of the
vehicle moving amount as a parameter, a reset
process/initialization process of the vehicle moving amount and the
weak voltage integrated value, and the like;
FIG. 16 is a detailed flowchart for describing a calculation
process of the weak voltage integrated value;
FIG. 17 is a detailed flowchart (1/2) for describing a detection
process (calculation process) of a relative position of the power
reception pad to the power transmission pad; and
FIG. 18 is the detailed flowchart (2/2) for describing the
detection process (calculation process) of the relative position of
the power reception pad to the power transmission pad.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
[Structure]
FIG. 1 is a schematic side view of a non-contact power transmission
system 10 according to an embodiment. FIG. 2 is a schematic
perspective view of the non-contact power transmission system 10
illustrated in FIG. 1.
As illustrated in FIG. 1 and FIG. 2, the non-contact power
transmission system 10 basically includes a charging station 30 and
a vehicle 20 including an energy storage device (BAT) 50
corresponding to a battery.
The energy storage device 50 of the vehicle 20 is charged without
contact (wirelessly) by the charging station 30.
The charging station 30 includes a power transmission pad (primary
pad) 21 as a power transmission unit that is provided on a road
surface such as a ground 23, and a power source unit 31 that
supplies to a power transmission coil 11 in the power transmission
pad 21, an AC power with a reference frequency fr through a cable
62. The reference frequency fr is higher than low frequency, for
example, commercial frequency from 50 Hz to 60 Hz, and lower than
or equal to several hundreds of kilohertz [kHz].
In this embodiment, the power transmission pad 21 is provided on
the ground 23 of a parking space or the like, as illustrated
schematically in FIG. 1.
The vehicle 20 is an electric vehicle (EV), a plug-in hybrid
vehicle (PHV), or a plug-in fuel cell vehicle (PFCV), and includes
a power reception pad (secondary pad) 22 as a power reception unit
that is provided on a bottom part of the vehicle 20. The power
reception pad 22 includes a power reception coil 12 as a secondary
coil.
FIG. 3A is a schematic plan view illustrating a state that the
power reception pad 22 is positioned at the power transmission pad
21 of the charging station 30. The power reception pad 22 is
disposed symmetrically with respect to a vehicle body center line
25 of the vehicle 20. In FIG. 3A, arrows indicate a front
direction, a rear direction, a left direction, and a right
direction of the vehicle 20.
FIG. 1 and FIG. 2 illustrate a state that the power reception pad
22 is positioned at the power transmission pad 21 in a manner
similar to that of FIG. 3A. Note that, in FIG. 1, arrows indicate a
front direction, a rear direction, a downward direction, and an
upward direction of the vehicle 20.
In the positioned state, a main surface of the power transmission
coil 11 (generally, an upper surface of power transmission pad 21)
and a main surface of the power reception coil 12 (generally, a
bottom surface of power reception pad 22) face each other in
parallel.
In FIG. 2 and FIG. 3A, the power reception coil 12 on the vehicle
20 side has a circular shape as shown by a bold dashed line in the
power reception pad 22 with a square shape. On the other hand, the
power transmission coil 11 on the charging station 30 side has an
approximately laterally long elliptic shape as shown by a bold
dashed line in the power transmission pad 21 with a rectangular
shape.
Note that, the power transmission coil 11 and the power reception
coil 12 may have a quadrangular shape (square or rectangular
shape), or a circular shape.
As illustrated in FIG. 1, the power source unit 31 of the charging
station 30 includes a power source electronic control unit (ECU) 61
and a communications device 81 including a transmission/reception
antenna. The power source unit 31 is connected to a commercial AC
power source with a frequency from 50 Hz to 60 Hz that is not
shown.
The power source unit 31 generates a transmission power P1 with a
low frequency of several tens of kilohertz, for example, from the
AC power source, and supplies the power to the power transmission
coil 11 of the power transmission pad 21 through the cable 62. Note
that, the transmission power P1 is switched by the power source ECU
61 between a weak power Plpe (lpe: low power excitation) for
positioning and a main power Pn (Plpe<<Pn) by a normal
current for main charging. From the power transmission pad 21, a
weak power (this weak power is also referred to as Plpe)
corresponding to the weak power Plpe or a main power (this main
power is also referred to as Pn) corresponding to the main power Pn
is transmitted.
In FIG. 2, a positioning process is performed by causing the
vehicle 20 to travel so that xyz-axes drawn on the power
transmission pad 21 (power transmission coil 11) coincide with
XYZ-axes drawn on the power reception pad 22 (power reception coil
12) of the vehicle 20, respectively in the plan view. Note that an
original position (coordinate origin) o of the xyz-axes (xyz
coordinate) of the power transmission pad 21 (power transmission
coil 11) is a center of the power transmission coil 11, and an
original position (coordinate origin) O of the XYZ-axes (XYZ
coordinate) of the power reception pad 22 (power reception coil 12)
is a center of the power reception coil 12.
Therefore, the positioning process is a process to cause the center
of the power reception coil 12 (coordinate origin O) of the power
reception pad 22 of the vehicle 20 to coincide with the center of
the power transmission coil 11 (coordinate origin o) of the power
transmission pad 21 of the charging station 30 in the plan
view.
In a case where both centers (coordinate origins O, o) coincide
with each other (z-axis and Z-axis coincide with each other), even
if the XY-axes of the power transmission pad 21 (power transmission
coil 11) are rotated with respect to the xy-axes of the power
reception pad 22 (power reception coil 12), a power transmission
efficiency (power reception efficiency=Prn/Pn=reception power of
power reception pad 22/transmission power of power transmission pad
21) does not change.
As illustrated in FIG. 1, the power reception pad 22 of the vehicle
20 is connected to the energy storage device 50 through a wire 42,
a rectifier 44, a wire 48 including a contactor 46, and a voltage
sensor 52.
The rectifier 44, the contactor 46, and the energy storage device
50 are controlled by an electronic control unit (ECU) 60.
The ECU 60 is connected to an in-vehicle communication line 66 to
control the entire vehicle 20.
This in-vehicle communication line 66 is connected to a rear camera
(imaging device) 71 and a display unit (display device) 72. The
rear camera 71 is used for seeing a rear side of the vehicle 20 and
the display unit 72 also serves as an input device (touch sensor)
to be operated by an occupant such as a driver. The in-vehicle
communication line 66 is also connected to a speaker/buzzer 73, a
vehicle speed sensor 74, an accelerator pedal sensor 76, a steering
angle sensor 78, a shift position sensor 79, and the like. The ECU
60 uses vehicle information detected by the sensors 74, 76, 78, and
79 {a vehicle speed Vv, an accelerator pedal opening (accelerator
opening) .theta.a, a steering angle (corresponding to direction
angle of front wheels) .theta.s, a gear shift position Sp (parking
position P, reverse position R, neutral position N, drive position
D)}.
As the display unit 72, a display unit of a navigation device
disposed on a dashboard is used, for example. On the display unit
72, the ECU 60 displays, for example, positioning progress
information as assistance information for a driver's positioning
travel.
The ECU 60 of the vehicle 20 performs communication such as pairing
with the power source ECU 61 through a communications device 82
that is connected to the ECU 60 and includes a
transmission/reception antenna, and the communications device 81 of
the power source unit 31 of the charging station 30.
In the positioning process in this embodiment, the power reception
pad 22 is positioned at the power transmission pad 21 of the
charging station 30 in a manner that the driver drives and steers
the vehicle 20 while seeing the positioning assistance information
(positioning progress status) on the display unit 72. However, the
positioning process may be performed by what is called automated
parking.
FIG. 4 is a function block diagram of the vehicle 20.
In the vehicle 20, driving wheels 84 are driven to rotate
mechanically by a motor 80 through a transmission 86. The motor 80
is driven to rotate electrically through an inverter 88
corresponding to a driving device.
To a power source input terminal of the inverter 88, a DC power is
supplied from the energy storage device 50. To a control input
terminal of the inverter 88, an on/off control signal of a
switching element is supplied from the ECU 60. The on/off control
signal is used for converting the DC power from the energy storage
device 50 into three-phase power (three-phase AC power) in
accordance with the accelerator pedal opening .theta.a or the like
output from the accelerator pedal sensor 76.
The motor 80 for driving the vehicle 20 is power-driven by the
three-phase AC power, a torque of the motor 80 is transmitted to
the driving wheels 84 of the vehicle 20 through the transmission
86. The vehicle 20 includes, in addition to a driving mechanism
including the motor 80, a steering mechanism including a steering
wheel, an electric power steering device, or the like, and a
braking mechanism including an electric brake, a disk brake, or the
like that are not shown.
Each of the power source ECU 61 corresponding to a control unit of
the charging station 30 and the ECU 60 corresponding to a control
unit of the vehicle 20 is a computer including a microcomputer, and
includes a central processing unit (CPU), a ROM (including EEPROM)
corresponding to a memory, a random access memory (RAM), an
input/output device such as an A/D converter and a D/A converter, a
timer corresponding to a clocking unit, and the like. When the CPU
reads out and executes programs recorded in the ROM, the power
source ECU 61 and the ECU 60 function as a various function
achievement unit (function achievement means) such as a control
unit, a calculation unit, and a processing unit. These functions
may be achieved by hardware. The ECU 60 is not limited to one ECU,
and may be divided into a plurality of ECUs such as a vehicle ECU,
a charging ECU, and an energy storage device ECU.
In this embodiment, the ECU 60 includes a voltage value detection
unit 102 that acquires a weak voltage value (received voltage) vlpe
detected by the voltage sensor 52, a significance determination
unit 104 for the weak voltage vlpe, a differentiation unit 106
including a position differentiation unit 106p and a time
differentiation unit 106t, a detection range inside/outside
determination unit 108 for the weak power, a moving amount
detection unit (moving displacement amount detection unit) 110, a
moving direction detection unit 111, an initial position/parameter
setting unit 112, an operation amount
calculation/setting/notification unit 114, a weak voltage
integrated value calculation unit 115, a relative position
calculation unit (position detection unit) 116 that calculates
(detects) a position (relative position) of the power reception
coil 12 relative to the power transmission coil 11, a
positive/negative determination unit 118 that determines whether
the power reception coil 12 exists on a positive side (see FIG. 2)
or a negative side (see FIG. 2) on an x-axis of the power
transmission coil 11, and an image generation unit 119 that
generates an assistance image for positioning, and the like.
Furthermore, in a storage unit 200 of the ECU 60, the ECU 60 stores
a voltage value characteristic (also referred to as weak voltage
value characteristic) 202 of the weak voltage value vlpe in a weak
voltage value characteristic storage unit (voltage value
characteristic storage unit) 200v, and stores a characteristic
(referred to as weak voltage integrated value characteristic) 204
of a weak voltage integrated value vilpe corresponding to a
position integration value of the weak voltage value characteristic
202 in a weak voltage integrated value characteristic storage unit
(voltage integrated value characteristic storage unit) 200i.
Note that, instead of storing the weak voltage integrated value
vilpe obtained from the weak voltage integrated value
characteristic 204 in advance, the weak voltage integrated value
vilpe may be generated from the weak voltage value characteristic
202 for a z-axis height zh every time parking for positioning is
performed.
Here, the weak voltage value characteristic 202 and the weak
voltage integrated value characteristic 204 are three-dimensional
maps of the weak voltage value vlpe and the weak voltage integrated
value vilpe. In these maps, a position xy and the z-axis height zh
are parameters.
An induced voltage characteristic storage unit 200e of the storage
unit 200 stores a vehicle speed induced voltage characteristic 206
corresponding to a map expressing a correspondence relation among a
distance from the power transmission coil 11 (radial distance), the
vehicle speed Vv, and induced voltage of the power reception coil
12.
[Operation]
Next, [entire operation] of the above embodiment and each operation
of [first to sixth examples] are described below.
[Entire Operation]
In positioning, the driver of the vehicle 20 who wants to charge
the energy storage device 50 at the charging station 30 of the
parking space first drives the vehicle 20 backward (backward
traveling) before the pairing. In the backward traveling, the
driver drives the vehicle 20, for example, along a side wall of the
parking space or along a side line of a parking frame and/or while
seeing a video image of the rear camera 71 on the display unit 72
so that the vehicle body center line 25 of the own vehicle 20
coincides with an x-axis of the power transmission pad 21 of the
charging station 30.
Note that, on the x-axis and a y-axis of the power transmission pad
21, white lines that can be seen by the driver, the rear camera 71,
or the like may be drawn.
When the driver drives the vehicle 20 to come close to the power
transmission pad 21, the vehicle 20 is stopped once. For example,
when the vehicle 20 has come to a position where the power
transmission pad 21 overlaps with a bottom surface of a rear part
side of the vehicle 20 and the power transmission pad 21 is not
seen in the video image of the rear camera 71, the vehicle 20 is
stopped once.
In this stop position, the driver presses a start button of
"positioning process" for non-contact charging on the display unit
72 of a touch panel type.
The ECU 60 having detected the pressing of the start button of
"positioning process" performs pairing for requesting the power
source ECU 61 to transmit a weak power through a wireless LAN such
as WiFi through the communications device 82 and the communications
device 81 of the power source ECU 61.
If a mutual authentication is established by the pairing, the power
source ECU 61 of the charging station 30 supplies a constant weak
AC current to the power transmission coil 11 of the power
transmission pad 21. By this weak current, the constant weak power
Plpe is transmitted wirelessly from the power transmission pad 21
(power transmission coil 11).
On the other hand, if the authentication is established, the
contactor 46 is changed to a closed state by the ECU 60 of the
vehicle 20 and the voltage value detection unit 102 starts to
acquire and detect the weak voltage value vlpe through the voltage
sensor 52. However, at the time when the authentication is
established, the weak voltage value vlpe is out of a detection
range of the weak voltage value vlpe; thus, the weak voltage value
vlpe is zero and is not detected. Note that the voltage sensor 52
may be provided with a noise removal filter.
When an accelerator pedal 77 is stepped on lightly to rotate the
motor 80 and the vehicle 20 starts to travel slowly, power
reception of the weak power Plpe is started and the voltage value
detection unit 102 starts a detection (acquisition) of the weak
voltage value vlpe that is not zero at the initial position (known
position as will be described below).
Next, the ECU 60 analyzes the weak voltage value vlpe corresponding
to a power reception voltage using the weak voltage value
characteristic 202 and the like. From the analysis result, the ECU
60 displays a position of the power transmission coil 11 on the
charging station 30 side, a position of the power reception coil 12
(relative position) on the vehicle 20 side relative to the position
of the power transmission coil 11, and the like on the display unit
72. The driver is notified of such information, which is helpful
for the driver to perform positioning travelling.
Then, the positioning traveling is continued and, when it is
detected that the weak voltage value vlpe has become the known
maximum peak value vlpemax, the positioning process is terminated
and the driving of the motor 80 of the vehicle 20 is stopped.
At the position where the positioning process is terminated, the
ECU 60 of the vehicle 20 notifies the power source ECU 61 of the
charging station 30 that positioning is completed.
After that, the power source ECU 61 changes the transmission power
P1 of the power source unit 31 from the weak power Plpe to the main
power Pn corresponding to a large normal power, and supplies the
power to the power transmission coil 11 of the power transmission
pad 21. Therefore, the non-contact charging of the energy storage
device 50 by the main power Pn is performed through the power
reception coil 12 on the power reception pad 22.
First Example
<Procedure of Detecting Relative Position of Power Reception
Coil 12 to Power Transmission Coil 11>
FIG. 5 is a schematic plan view in which the vehicle 20 on an upper
side is currently traveling backward from above (positive side) of
the x-axis in the drawing to the center o of the power transmission
pad 21 (power transmission coil 11) while the weak power Plpe is
transmitted from the power transmission coil 11 after the pairing.
In FIG. 5, the position of the vehicle 20 on the upper side
corresponds to the position where the voltage value detection unit
102 of the vehicle 20 detects the weak power through the voltage
sensor 52 for the first time and the weak voltage value vlpe
(vlpe=0+) is detected.
When the weak voltage value vlpe is detected for the first time,
the ECU 60 sets the position to an initial position xint {xint=(x,
y)=(xint, 0)} with a known distance with reference to the weak
voltage value characteristic 202, and after that, starts the
positioning process with reference to the weak voltage value
characteristic 202. At the same time, the weak voltage integrated
value calculation unit 115 starts to calculate the weak voltage
integrated value vilpe obtained by position integration of the
detected weak voltage value vlpe.
Here, at the initial position xint, the vehicle body center line 25
of the vehicle 20 coincides with the x-axis of the power
transmission coil 11.
In the practical application, a distance x between the origin o of
the power transmission coil 11 and the initial position xint is
less than or equal to a vehicle width of the vehicle 20, and the
driver cannot see the power transmission coil 11 through the rear
camera 71 of the vehicle 20 directly.
In FIG. 5, the distance of the x-axis in quadrants (positions)
above the y-axis is a positive value, and the distance x of the
x-axis in quadrants (position) below the y-axis is a negative
value. In addition, the distance y of the y-axis in quadrants
(position) on the right side of the x-axis is a positive value, and
the distance y of the y-axis in quadrants (position) on the left
side of the x-axis is a negative value.
After the pairing, from just before the initial position xint, the
vehicle 20 is traveling backward for positioning for parking at a
slow constant target vehicle speed Vvtar, which is slower than a
speed slow enough for the vehicle 20 to stop immediately and which
is determined by the ECU 60 or the like, for example.
In FIG. 5, the vehicle 20 on the right side is at the current
position (current coordinate position, relative radius) ra {ra=(x,
y)}. Here, in FIG. 5, the deviation amount of the vehicle 20 that
is currently traveling backward for positioning is exaggerated.
Note that the current position ra(x, y) of the vehicle 20 is at a
central position (origin O) of the power reception pad 22 (power
reception coil 12).
In FIG. 5, a displacement of the vehicle from the initial position
xint to the current position ra is referred to as a vehicle moving
amount (also referred to as moving amount or moving displacement
amount) cvp. Note that the vehicle moving amount cvp can be
obtained by the moving amount detection unit (also referred to as
moving displacement amount detection unit) 110 from an integrated
value .intg.Vvdt=cvp on the basis of the vehicle speed Vv and a
minute time dt, or can be obtained by vehicle speed
Vv.times.required time if the vehicle speed Vv is constant.
Here, the relative moving amount (moving amount, vehicle moving
amount, x-axis moving amount) xvp of the power reception coil 12 on
the x-axis from the initial position xint to the current position
ra(x, y) in a case where the vehicle 20 travels straight backward
along the x-axis can be obtained by the following expression (1):
xvp=xint-x (1)
The x-axis position is calculated by the following expression (2)
in which the expression (1) is varied: x=xint-xvp (2)
For example, positioning is completed when the vehicle 20 travels
straight backward along the x-axis and the distance x becomes
x=0.
In the first example, the relative moving amount xvp of the x-axis
and the x-axis position (distance x) are obtained from the voltage
characteristic (weak voltage value characteristic 202) by the
electromagnetic induction of the power reception coil 12 and the
power transmission coil 11, and the voltage characteristic (weak
voltage integrated value characteristic 204) obtained by position
integration of the weak voltage value characteristic 202 from the
initial position xint to the center of the power transmission coil
11 (coordinate origin o).
The upper graph in FIG. 6 shows the weak voltage value
characteristic 202 stored in advance as a map in the weak voltage
value characteristic storage unit 200v. The lower graph in FIG. 6
shows the weak voltage integrated value characteristic 204 stored
in advance as a map in the weak voltage integrated value
characteristic storage unit 200i.
The weak voltage value characteristic 202 and the weak voltage
integrated value characteristic 204 are the characteristics in a
case where the difference zh (see FIG. 2) between the height of the
power transmission coil 11 from the ground 23 (horizontal plane) on
the z-axis and the height of the power reception coil 12 from the
ground 23 (height from the ground 23 is also referred to as z-axis
height) is the known height (distance).
In a case where the z-axis height zh is different from the known
height, the weak voltage value characteristic 202 and the weak
voltage integrated value characteristic 204 with height correction
can be used.
In regard to the weak voltage value characteristic 202, the
vertical axis expresses the weak voltage value vlpe and the
horizontal axis expresses the distance x from the origin o on the
x-axis (center of power transmission coil 11).
In the weak voltage value characteristics 202, a weak voltage value
characteristic 2020s shown by a solid line is the characteristic on
the x-axis when the value of the y-axis is y=0 [mm] and the vehicle
speed Vv is Vv=0 [mm/s].
A weak voltage value characteristic 2021s shown by a dashed line is
the characteristic on the x-axis when the value of the y-axis is
y=ya [mm] (in this embodiment ya is a value of approximately less
than xint/2) and the vehicle speed Vv is Vv=0 [mm/s].
The weak voltage value vlpe when the vehicle speed Vv=0 is a static
electromotive voltage corresponding to the voltage generated by the
magnetic field vibrating at the reference frequency fr, and the
value depends on the shape of both coils (power transmission coil
11 and power reception coil 12). In this embodiment, as is
understood from the weak voltage value characteristic 2020s at y=0
and the weak voltage value characteristic 2021s at y=ya, the
voltage values are substantially the same in the range of the
distance x=0 to xint although the value of the y-axis is different
(in the range of y=0 to ya).
This is because, as illustrated in FIG. 3B, the power transmission
coil 11 has a shape close to a laterally long elliptic shape and in
this case, in regard to the deviation in the y-axis direction of
the power reception coil 12 with a circular shape and a smaller
area, the decrease in the number of interlinkage fluxes of the
power transmission coil 11 has very little influence on the weak
voltage value vlpe and if the deviation in the y-axis direction is
less than or equal to a certain distance ya (y.ltoreq.ya), there is
almost no difference in weak voltage value vlpe on the y-axis at
x=0.
On the other hand, as illustrated in FIG. 3C, since the power
transmission coil 11 has a shape close to a laterally long elliptic
shape, the decrease in the number of interlinkage fluxes of the
power transmission coil 11 has a large influence on the weak
voltage value vlpe if the power transmission coil 11 is far from
the power reception coil 12 in the x-direction by more than or
equal to x that satisfies x>ya.
Therefore, in a very-close-distance region Dc close to the
coordinate origin o where the distance x is about a distance to a
very-close-distance threshold position xc, the weak voltage value
vlpe more than or equal to the weak voltage value (threshold) vlpec
can be detected. Thus, in this case, the relative moving amount xvp
on the x-axis (see FIG. 5) can be obtained accurately with high
sensitivity with reference to the weak voltage value characteristic
202 by using the detected weak voltage value vlpe as an
argument.
As described above, in the weak voltage value characteristics 202,
the weak voltage value characteristic 2020s shown by the solid line
is the characteristic when the value of the y-axis is y=0 [mm] and
the vehicle speed Vv is Vv=0 [mm/s].
In contrast, a weak voltage value characteristic 2020d shown by a
one-dot chain line is the characteristic when the value of the
y-axis is y=0 [mm] and the vehicle speed Vv is a target vehicle
speed Vvtar that is constant and slow speed (Vv=Vvtar [mm/s]).
The weak voltage value characteristic 2020s when the vehicle speed
Vv is Vv=0 (in a stop state) and the weak voltage value
characteristic 2020d when the vehicle speed Vv is the target
vehicle speed Vvtar are compared. This comparison indicates that
the very-close-distance region Dc to the very-close-distance
threshold position xc where the distance x from the origin o is
short and a far-distance region Df from a close-distance threshold
position xn to the initial position xint where the distance x from
the origin o is long both have an approximately monotonically
decreasing characteristic. A close-distance region Dn from the
very-close-distance threshold position xc to the close-distance
threshold position xn where the distance x from the origin o is
medium includes a portion where voltage changes depending on the
vehicle speed Vv (Vv=0, Vv=Vvtar) (portion where both
characteristics 2020s and 2020d are separated from each other).
This is because a dynamic electromotive voltage (induced voltage)
corresponding to the voltage generated in accordance with the
electromagnetic induction rule when the power reception coil 12
itself moves at a vehicle speed Vv=Vvtar is added to the static
electromotive voltage (vehicle speed Vv=0) corresponding to the
voltage generated by the magnetic field that vibrates at the
reference frequency fr.
It has been known that the portion (distance) where the voltage
changes depends on, for example, the coil shape of the power
reception coil 12 and the power transmission coil 11.
Therefore, in this embodiment, the correspondence relation between
the vehicle speed Vv and the dynamic electromotive voltage (induced
voltage) is stored in advance in the induced voltage characteristic
storage unit 200e.
As shown on the upper graph in FIG. 6, there is a position (point)
where the weak voltage value vlpe becomes vlpe=0 (in FIG. 6, a
bottom peak value vlpeth including the offset) between the
very-close-distance threshold position xc and the close-distance
threshold position xn in the weak voltage value characteristic
2020s and the like, and this position is referred to as a bottom
position (bottom distance) xb.
In this manner, the weak voltage value characteristic 202
(particularly, static weak voltage value characteristic 2020s, for
example) is the characteristic as follows: since the distribution
of the magnetic field varies depending on the coil shape or the
like, the value of the weak voltage value vlpe corresponding to the
amount of weak power transmitted from the center of the power
transmission coil 11 to the entire periphery in a radial direction,
which is taken along a cross section in a vertical direction,
decreases from the maximum peak value (local maximum value) vlpemax
of the power transmission coil 11 (center of power transmission
unit) toward the outside in the radial direction and becomes a
bottom peak value (local minimum value) vlpeth (vlpeth=0); the
value increases from the bottom peak value vlpeth further toward
the outside in the radial direction and becomes a side peak value
(local maximum value) vlpen; and the value decreases from the side
peak value vlpen further toward the outside in the radial direction
and becomes zero at which the weak value Plpe cannot be
detected.
In this manner, in a separation distance region Ds including both
the close-distance region Dn and the far-distance region Df, the
distance x exists at three locations (three positions) because of
the characteristic in which the weak voltage value vlpe has
unevenness toward the outside in the radial direction although the
weak voltage value vlpe is the same. As a result, the distance x
and the relative moving amount xvp are not uniquely determined
based on the weak voltage value vlpe.
On the other hand, as is understood from the weak voltage value
characteristic 202, in the very-close-distance region Dc that is
set so that the weak voltage value vlpe becomes more than or equal
to the weak voltage value (threshold) vlpec, which is much higher
than the side peak value (local maximum value) Vlpen in the
separation distance region Ds, the gradient of the weak voltage
value characteristic 202 is steep and the distance x is determined
uniquely relative to the weak voltage value vlpe; thus, the
distance x (relative moving amount xvp) can be measured with high
sensitivity (accuracy) by using the weak voltage value
characteristic 202 with the steep gradient.
Note that the weak voltage value vlpe is the maximum peak value
(local maximum value) vlpemax at the origin o where the distance
x=0, and after the vehicle 20 passes the origin o, the value of the
distance x becomes negative and the weak voltage value
characteristic 202 becomes line-symmetrical with respect to the
y-axis.
The weak voltage value (side peak value) vlpen corresponding to the
local maximum value at x>0 in the middle of positioning and the
weak voltage value (maximum peak value) vlpemax at x=0 are
so-called points of inflection. Therefore, the position
differential value vdplpe of the weak voltage value vlpe (weak
voltage position differential value) expressed by the following
expression (3) calculated by the position differentiation unit 106p
is zero (vdplpe=0). vdplpe=d(vlpe)/(dx) (3)
Note that attention should be paid to the fact that the position
differential value vdplpe of the weak voltage value vlpe is zero
even at the bottom position xb because of the weak voltage value
characteristic 2020s, for example.
In order to uniquely determine the distance x and the relative
moving amount xvp in the separation distance region Ds, the weak
voltage integrated value characteristic 204 shown in the lower
graph in FIG. 6 is used.
The vertical axis of the weak voltage integrated value
characteristic 204 is the integrated value (hereinafter referred to
as weak voltage integrated value vilpe) of the weak voltage value
vlpe calculated in advance from the following expression (4) on the
basis of the weak voltage value characteristic 202, and the
horizontal axis is the distance x from the origin o on the x-axis.
vilpe=.intg.vlpedx (4)
In the weak voltage integrated value characteristics 204, a weak
voltage integrated value characteristic 2040s shown by a solid line
is the characteristic when the value of the y-axis is y=0 [mm] and
the vehicle speed Vv is Vv=0 [mm/s].
A weak voltage integrated value characteristic 2041s shown by a
dashed line is the characteristic when the value of the y-axis is
y=ya [mm] and the vehicle speed Vv is Vv=0 [mm/s].
A weak voltage integrated value characteristic 2040d shown by a
one-dot chain line is the characteristic when the value of the
y-axis is y=0 [mm] and the vehicle speed Vv is Vv=Vvtar [mm/s].
A weak voltage integrated value characteristic 2041d shown by a
two-dot chain line is the characteristic when the value of the
y-axis is y=ya [mm] and the vehicle speed Vv is Vv=Vvr [mm/s]
(referred to as reference vehicle speed).
In the weak voltage integrated value characteristic 204, it is
understood that in the separation distance region Ds including both
the close-distance region Dn and the far-distance region Df, the
weak voltage integrated value vilpe monotonically increases as the
relative moving amount xvp increases and the distance x is uniquely
determined based on the weak voltage integrated value vilpe.
At a position on the x-axis of the weak voltage integrated value
characteristic 204, the weak voltage integrated value vilpe has a
value as follows: the weak voltage integrated value vilpe is zero
at the initial position xint; at the close-distance threshold
position xn, the weak voltage integrated value vilpe is a weak
voltage integrated value vilpen (vilpen=.intg.vlpedx: integration
section is from 0 at xint to xint-xn) corresponding to the position
integration value from the initial position xint to the
close-distance threshold position xn (side peak value vlpen) in the
weak voltage value characteristic 202; at the very-close-distance
threshold position xc, the weak voltage integrated value vilpe is a
weak voltage integrated value vilpec (vilpec=.intg.vlpedx:
integration section is from 0 at xint to xint-xc) corresponding to
the position integration value from the initial position xint to
the very-close-distance threshold position xc (weak voltage value
vlpec); and at the origin o (where the distance x is zero), the
weak voltage integrated value vilpe is a weak voltage integrated
value vilpeh (vilpeh=.intg.vlpedx: integration section is from 0 at
xint to the xint value).
After the vehicle 20 passes the origin o, the weak voltage
integrated value characteristic 204 is the increasing
characteristic that is point-symmetrical with the weak voltage
integrated value vilpeh as a center. Therefore, in the separation
distance region Ds, if the weak voltage integrated value vilpe is
less than the weak voltage integrated value vilpec, the distance x
is determined to be "positive" and if the weak voltage integrated
value vilpe is more than or equal to the weak voltage integrated
value vilpec, the distance x is determined to be "negative".
That is to say, depending on whether the weak voltage integrated
value vilpe is less than the weak voltage integrated value (weak
voltage threshold integrated value) vilpec, whether the position
from the near side to the far side over the origin o is positive
(vilpe<vilpec) or negative (vilpe>vilpec) can be
determined.
As described in the balloons in FIG. 6, in the first example, with
reference to the weak voltage integrated value characteristic 204
and the weak voltage value characteristic 202, in a case of
obtaining the distance x on the x-axis from the origin o, that is,
the position of the power reception coil 12, in other words, the
relative moving amount xvp on the x-axis from the initial position
xint, the detected weak voltage value vlpe and the weak voltage
integrated value vilpe corresponding to the position integration
value thereof are obtained for each minute moving amount dx.
Then, in regions (in the close-distance region Dn and the
far-distance region Df) from the initial position xint to the
very-close-distance threshold position xc where the relative moving
amount xvp on the x-axis is not uniquely determined based on the
obtained weak voltage value vlpe, the distance x from the origin o,
that is, the relative moving amount xvp on the x-axis from the
initial position xint is obtained using the obtained weak voltage
integrated value vilpe as an argument with reference to the weak
voltage integrated value characteristic 204 in which the relative
moving amount xvp is uniquely determined.
On the other hand, in a region (very-close-distance region Dc) from
the very-close-distance threshold position xc to the origin o
(distance x=0) where the relative moving amount xvp on the x-axis
from the weak voltage value vlpe is uniquely determined, the
distance x from the origin o, that is, the relative moving amount
xvp on the x-axis from the initial position xint is obtained using
the weak voltage value vlpe as an argument with reference to the
weak voltage value characteristic 202.
[Display of Parking Assistance]
Here, description is made of an image display in the display unit
72 for parking assistance in positioning, for the driver of the
vehicle 20.
In order to position the power reception coil 12 of the vehicle 20
at the power transmission coil 11 of the charging station 30, it is
preferable to notify the driver of a target accelerator pedal
opening (target accelerator opening) .theta.atar corresponding to
how deeply the driver needs to step on the accelerator pedal 77 in
order to achieve the target vehicle speed Vvtar, and a time Tp
required for positioning corresponding to the time for which the
driver steps on the accelerator pedal 77.
As illustrated in FIG. 7, the display unit 72 schematically
displays an assistance image 73a for positioning that is generated
by the image generation unit 119.
The assistance image 73a includes an accelerator pedal image 77a,
the accelerator opening (accelerator pedal opening) .theta.ap at a
current vehicle speed Vvp, an accelerator pedal opening .theta.atar
necessary to achieve the target vehicle speed Vvtar (target
accelerator opening), and an operation direction 77b of the
accelerator pedal 77. By the display of these images, the driver
can perform a smooth positioning operation with the accelerator
pedal 77.
Note that the accelerator pedal image 77a that is drawn with a
dashed line is the accelerator pedal 77 at an original position,
and the accelerator pedal image 77a that is drawn with a solid line
is the accelerator pedal 77 at a current position.
In addition, the assistance image 73a includes a gauge image 90i
for indicating the time Tp required for positioning in order to
notify how many seconds it takes to reach the origin o
corresponding to the target position if the driver keeps stepping
on the accelerator pedal 77 with the current accelerator opening
.theta.ap.
In this manner, the target vehicle speed Vvtar [km/m] that is
optimal for the smooth parking is defined as the target accelerator
opening .theta.atar. The driver can be notified so that the driver
can visually and easily recognize the current accelerator opening
.theta.ap and the target accelerator opening .theta.atar.
FIG. 8 illustrates a schematic image display of another assistance
image 73b for positioning that is generated by the image generation
unit 119.
The assistance image 73b includes a current position of a power
reception pad image 22i based on a position of a power transmission
pad image 21i, a left-right adjustment amount of steering wheel,
and a gauge image 91i that notifies a remaining distance xp from
the current position to the origin o as the target position.
By displaying these assistance images 73a, 73b for positioning in
this manner, the driver can park the vehicle 20 at the
appropriately (accurately) aligned position (position where the
origin o and the origin O coincide with each other in the plan
view) without a skill.
Thus, in the first example, the distance x corresponding to the
relative position of the power reception coil 12 from the
coordinate origin o of the x-axis of the power transmission coil 11
can be estimated (obtained) on the basis of the weak voltage value
vlpe by the electromagnetic induction of the power reception coil
12 and the power transmission coil 11, and the weak voltage
integrated value vilpe corresponding to the moving displacement of
the power reception coil 12.
In this case, in the very-close-distance region Dc where the
distance x is uniquely determined, the distance x is calculated
based on the weak voltage value vlpe with reference to the weak
voltage value characteristic 202 set in accordance with the known
z-axis height zh.
In this case, positive/negative of the x-axis in the
very-close-distance region Dc is determined based on a gradient of
a weak voltage position differential value vdlpe expressed in the
expression (3) and the shift position Sp.
Whether the vehicle 20 enters the very-close-distance region Dc
from the close-distance region Dn is determined based on whether
the weak voltage value vlpe exceeds the weak voltage value vlpec or
whether the weak voltage integrate value vilpe exceeds the weak
voltage integrated value vilpc at the same position as the weak
voltage value vlpec.
Positive/negative of the x-axis in the separation distance region
Ds is determined based on a gradient of a position differential
value (position differential value of weak voltage integrated
value) vdpilpe of the weak voltage integrated value vilpe
calculated by the following expression (5), and the shift position
Sp. vdpilpe=d(vilpe)/dx (5)
In the separation distance region Ds where the distance x is not
uniquely determined based on the weak voltage value characteristic
202, the distance x is calculated based on the weak voltage
integrated value characteristic 204 by which the distance x is
uniquely determined.
Note that the current position (radial distance) ra(x, y) of the
vehicle 20 may be obtained without using the weak voltage
integrated value characteristic 204 but by simply using the initial
position xint when the vehicle 20 enters the inside of the
far-distance region Df of the weak voltage detection range
(referred to as weak voltage detection range inside region or
detection range inside region) Din from the outside of the weak
voltage detection range (also referred to as weak voltage detection
range outside region or detection range outside region) Dout (see
FIG. 6) and the vehicle moving amount cvp (see FIG. 5) calculated
based on the vehicle speed Vv obtained by the vehicle speed sensor
74 and the steering angle .theta.s obtained by the steering angle
sensor 78.
Furthermore, in the close-distance region Dn, the induced voltage
in accordance with the relative moving speed between the power
reception coil 12 and the power transmission coil 11 is generated;
therefore, with reference to the vehicle speed induced voltage
characteristic 206 as the map of the characteristic corresponding
to the induced voltage that is obtained in advance from the vehicle
speed Vv, the weak voltage value vlpe is obtained by correcting the
offset of the weak voltage value vlpe. The weak voltage integrated
value vilpe is a value obtained by integrating the corrected weak
voltage value vlpe.
In addition, since the weak voltage value characteristic 202
changes depending on the z-axis height zh as the gap between the
power reception coil 12 and the power transmission coil 11, the
weak voltage value characteristic 202 is selected or corrected in
consideration of the z-axis height zh. In addition, in order to
avoid integrated errors, in a case where the vehicle speed Vv=0 at
which the induced voltage is not generated, the weak voltage
integrated value vilpe is reset to a value on the weak voltage
integrated value characteristic 204 relative to the weak voltage
value vlpe at a vehicle speed Vv=0, that is, a reference value on
the basis of the current weak voltage value vlpe and the weak
voltage integrated value vilpe.
In this case, each of the very-close-distance region Dc, the
close-distance region Dn, and the far-distance region Df is
determined based on the current weak voltage integrated value
vilpe, and for each region, the value on the weak voltage
integrated value characteristic 204 corresponding to the value of
the weak voltage value vlpe, that is, a reference value may be
assigned as the weak voltage integrated value vilpe that has been
reset, so that the weak voltage integrated value vilpe is
reset.
Second Example
[Identification Determination of Weak Voltage Detection Range
Outside Region Dout and Weak Voltage Detection Range Inside Region
Din]
In this embodiment as described above, the moving amount xvp of the
power reception coil 12 on the x-axis from the initial position
xint where the weak voltage value vlpe is received first, in other
words, the x-axis position (distance) x from the origin o of the
power transmission coil 11 is calculated.
Therefore, in the detection range outside region Dout, the
parameters such as the weak voltage integrated value vilpe and the
x-axis moving amount xvp are reset. When the vehicle 20 enters the
detection range inside region Din (at the time of entry from the
outside of the detection range to the inside of the detection
range), the parameters such as the weak voltage integrated value
vilpe and the x-axis moving amount xvp are reset and initialization
to set the initial position xint is performed, and the calculation
of the weak voltage integrated value vilpe and the x-axis moving
amount xvp is started.
In the detection range outside region Dout, the weak voltage value
vlpe remains at a lower limit value (some random noise and offset
are mixed). Even in the detection range inside region Din, the weak
voltage value vlpe becomes the lower limit value at the bottom
position xb. Therefore, the weak voltage detection range
inside/outside region cannot be determined accurately by using only
the weak voltage value vlpe.
In the detection range inside region Din, the weak voltage value
vlpe exceeds zero except at the bottom position xb. Therefore, a
voltage that slightly exceeds zero, that is, a voltage
approximately corresponding to the bottom peak value vlpeth
described above is set as a weak voltage threshold {referred to as
weak voltage threshold vlpeth with same reference symbol because
the value is substantially the same (see FIG. 6)}.
In view of the above, if the weak voltage value vlpe is more than
or equal to the weak voltage threshold vlpeth, the region is
determined to be the detection range inside region Din. Note that
since a filter process removes the noise and the offset, 0+ value
(positive value close to zero) is set as the weak voltage threshold
vlpeth.
When the weak voltage value vlpe is less than or equal to the weak
voltage threshold vlpeth and the vehicle 20 is in the stop state
(Vv=0), it cannot be determined whether a position is within the
detection range outside region Dout or is the bottom position xb.
Therefore, a parameter value (for example, weak voltage integrated
value vilpe) that is detected before is held without being
reset.
Furthermore, in a case where the weak voltage value vlpe is less
than or equal to the weak voltage threshold vlpeth and the vehicle
20 is traveling (Vv.noteq.0), if a period where the time
differential value vdtlpe of the weak voltage value vlpe expressed
in the following expression (6) is zero has continued for a
threshold time Tth, the region is determined to be the detection
range outside region Dout and the parameter is reset.
vdtlpe=d(vlpe)/dt (6)
Here, the time differential value vdtlpe is calculated by the time
differentiation unit 106t as a minute changing amount d(vlpe) of
the weak voltage value vlpe relative to the changing amount of the
minute time dt measured by a timer (clocking unit) that is not
shown.
Furthermore, in a case where the weak voltage value vlpe is less
than or equal to the weak voltage threshold vlpeth and the vehicle
20 is traveling (Vv.noteq.0), if the weak voltage time differential
value vdtlpe is changed to vdtlpe.noteq.0, the region is determined
to be the detection range inside region Din.
The x-axis position x may be calculated based on the initial
position xint when the vehicle 20 enters the detection range inside
region Din from the detection range outside region Dout, and the
vehicle moving amount cvp calculated by the vehicle speed sensor 74
and the steering angle sensor 78; then, positive/negative of the x
position may be determined based on the calculated x-axis
position.
Third Example
[Procedure of Calculating X-Axis Moving Amount xvp]
FIG. 9 expresses the weak voltage value characteristic 2020s
(z-axis height zh is zhl) and a weak voltage value characteristic
2020s' (z-axis height zh is zh2, zh2>zh1) that are drawn to both
positive and negative sides of the origin o of the x-axis.
The weak voltage value characteristic 2020s' is the characteristic
when the z-axis height zh is zh2 that is higher than zh1. The weak
voltage value vlpe is a low value in the entire detection range
inside region Din.
For example, when the vehicle 20 enters the detection range inside
region Din(+) from the detection range outside region Dout(+), the
weak voltage position differential value vdplpe expressed in the
expression (3) transits from zero (vdplpe=0) to non-zero
(vdplpe.noteq.0).
As illustrated in FIG. 10A, a position where the weak voltage
position differential value vdplpe transits from zero to non-zero
is set as the initial position xint.
As illustrated in FIG. 10B, the x-axis position (distance x) can be
obtained by subtracting the moving amount xvp from the initial
position xint(xint, 0). Note that, in this third example, it is
assumed that the y-axis moving amount is very small and can be
ignored.
In the third example, the x-axis moving amount xvp is calculated by
.intg.Vvdx or vehicle speed Vv.times.required time, for example,
Vvtar.times.required time, from the initial position xint(xint, 0)
to the very-close-distance threshold position +xbc or the
very-close-distance threshold position xc(xc, 0) that has a little
margin relative to the very-close-distance threshold position +xbc
where the weak voltage value vlpe becomes the side peak value
(vlpen) the second time. The x-axis moving amount xvp is calculated
with reference to the weak voltage value characteristic 2020 (2020s
or 2020s') of the very-close-distance region Dc from the position
(very-close-distance threshold position+xbc) where the weak voltage
value vlpe becomes the side peak value (vlpen) the second time to
the origin o(0, 0), or the very-close-distance threshold position
xc(xc, 0).
Therefore, the power reception coil 12 of the vehicle 20 can be
positioned certainly with a simple structure from the initial
position (initial detection position) of the weak power+xint to the
position at the maximum peak value vlpemax (maximum peak value
detection position).
Note that in FIG. 9, another side peak value vlpen' indicates the
side peak value of the weak voltage value characteristic
2020s'.
Fourth Example
[Outline of Positive/Negative Determination of X-Axis]
A relative front/rear position (positive/negative position) of the
power reception coil 12 to the power transmission coil 11 is
estimated based on the shift position Sp, the weak voltage value
vlpe, the weak voltage integrated value vilpe with respect to the
vehicle displacement, and the weak voltage position differential
value vdplpe with respect to the vehicle displacement. The details
will be described below with reference to flowcharts described
later (step S3 in FIG. 14, FIG. 17).
Positive/negative at the initial position xint is determined based
on the shift position Sp when the vehicle 20 enters the detection
range inside region Din from the detection range outside region
Dout.
In the close-distance region Dn and the far-distance region Df,
positive/negative of the x-axis is determined based on the weak
voltage integrated value vilpe.
In the very-close-distance region Dc, it is estimated whether the
power reception coil 12 approaches or is separated from the power
transmission coil 11 depending on whether the differential value of
the weak voltage value vlpe with respect to the vehicle
displacement, that is, the weak voltage position deferential value
vdplpe is positive or negative. Positive/negative of the x-axis
position is determined by determining whether the vehicle 20 moves
forward or backward on the basis of the shift position Sp.
Fifth Example
[Estimation of Y-Axis Moving Amount]
In a case where it is presumed that the vehicle 20 is in the
very-close-distance region Dc on the basis of the vehicle moving
amount xvp in FIG. 11 and the weak voltage value vlpe in FIG. 12, a
y-axis direction distance (y-axis moving amount) yvp is
estimated.
In FIG. 12, the weak voltage value characteristic 2020s shown by a
solid line in the weak voltage value characteristics 202 is the
characteristic on the x-axis when a y-axis value y=0 [mm] and the
vehicle speed Vv=0 [mm/s].
A weak voltage value characteristic 2022s shown by a dashed line is
the characteristic on the x-axis when the y-axis value y=yb
(yb>ya) [mm] and the vehicle speed Vv=0 [mm/s].
The weak voltage value characteristic 2020d shown by a one-dot
chain line is the characteristic when the y-axis value y=0 [mm] and
the vehicle speed Vv is the target vehicle speed Vvtar (Vv=Vvtar
[mm/s]) that is constant and slow.
A weak voltage value characteristic 2022d shown by a two-dot chain
line is the characteristic on the x-axis when the y-axis value y=yb
[mm] and the vehicle speed Vv is the target vehicle speed Vvtar
[mm/s] that is constant and slow.
Characteristics 2040s, 2040d, 2042s, 2042d are the weak voltage
integrated value characteristics corresponding to the
characteristics 2020s, 2020d, 2022s, 2022d, respectively.
In a case where it is presumed that the vehicle 20 is in the
very-close-distance region Dc, if a displacement of the y-axis
direction distance is within ya, the weak voltage value vlpe
increases as the x-axis moving amount xvp increases. However, when
the deviation in the y-axis direction is large, for example
y=yb>ya, the weak voltage value vlpe decreases as the x-axis
moving amount xvp increases.
Therefore, the y-axis moving amount yvp is obtained from the x-axis
moving amount xvp in FIG. 11, for example, xvp=vehicle speed
Vv.times.required time, and the characteristics 202, 204 shown in
FIG. 12. Note that whether the y-axis moving amount yvp is positive
or negative is determined on the basis of the steering angle
.theta.s of the vehicle 20.
Sixth Example
[Procedure of Obtaining X-Axis Position x and Y-Axis Position
y]
As illustrated in FIG. 13, when a current coordinate position ra(x,
y) is obtained on the assumption that a power transmission coil in
a power transmission pad 21' is a power transmission coil 11' with
a circular shape, the vehicle moving amount cvp is calculated from
the vehicle speed Vv as expressed in the following expression (7).
cvp=.intg.Vvdt (7)
The following expressions (8), (9) are obtained from the
Pythagorean theorem. y.sup.2+x.sup.2ra.sup.2 (8)
y.sup.2+(cb-x).sup.2=cvp.sup.2 (9)
where ra is the magnitude of a vector obtained from the weak
voltage value vlpe satisfying y<ya with reference to the weak
voltage value characteristic 202, and cb is equal to the initial
position (initial distance) xint.
By solving the expressions (8), (9) with respect to x, y, the
following expressions (10), (11) are obtained. On the basis of the
expressions (10), (11), the current coordinate position (radius)
ra(y, x) can be obtained. x=(ra.sup.2-cvp.sup.2+cb.sup.2)/2cb (10)
y={(ra+cb+cvp)(ra-cb+cvp)(ra+cb-cvp)(-ra+cb+cbp)}.sup.1/2/2cb (11)
[Description of Operation in Accordance with Flowchart]
Next, with reference to the flowcharts, description is made of the
positioning process of the power reception pad (power reception
coil 12) of the vehicle 20 relative to the power transmission pad
21 (power transmission coil 11) of the charging station 30, in
other words, a detection process (calculation process) of the
relative position of the power reception coil 12 to the power
transmission coil 11.
FIG. 14 is an overall flowchart of a relative position detection
process. Note that it is the ECU 60 that executes programs in the
flowcharts, and in order to avoid the complication, some of the
description is omitted. The overall flowchart is repeatedly
performed in a minute time, for example, in the minute time dt
described above.
In step S1, the ECU 60 performs parameter calculation, a reset
process of the calculated parameters, and an initialization
process.
The parameters are basically the moving amount cvp of the vehicle
20 and the weak voltage integrated value vilpe. Note that if the
y-axis moving amount is very small and can be ignored, the moving
amount cvp may be the x-axis relative moving amount (x-axis moving
amount) xvp. In the initialization process, the initialization of
the current position ra(x, y) is performed, that is, a process to
achieve cvp(x, y)=xint(xint, 0) is performed.
In step S2 after the reset/initialization process, the ECU 60
performs a calculation process of the weak voltage integrated value
vilpe on the basis of the detected weak voltage value vlpe.
Next, in step S3, positive/negative of the x-axis is
determined.
In step S4, on the basis of the weak voltage value vlpe and the
weak voltage integrated value vilpe, the detection process
(calculation process) is performed. This detection process
(calculation process) detects the relative position of the power
reception pad (power reception coil 12) as the power reception unit
of the vehicle 20 to the power transmission pad 21 (power
transmission coil 11) as the power transmission unit of the
charging station 30.
FIG. 15 is a detailed flowchart of the process in step S1 used for
an explanation of the calculation of the vehicle moving amount cvp
as a parameter, the reset process/initialization process of the
vehicle moving amount cvp and the weak voltage integrated value
vilpe, and the like.
In step S1a, the voltage value detection unit 102 of the ECU 60
(see FIG. 4) detects the weak voltage value vlpe through the
voltage sensor 52. Note that when the weak voltage value vlpe is
detected, a filter process is performed in order to remove a noise,
detect and remove an offset, and the like.
Next, in step S1b, the position differentiation unit 106p and the
time differentiation unit 106t of the differentiation unit 106
calculate the position differential value vdplpe and the time
differential value vdtlpe of the weak voltage value vlpe,
respectively.
Next, in step S1c, the significance determination unit 104
determines whether the detected weak voltage value vlpe is more
than or equal to the weak voltage threshold vlpeth.
In the first determination, since the vehicle 20 is within the
detection range outside region Dout, the weak voltage value vlpe is
less than the weak voltage threshold vlpeth; the determination is
negative (step S1c: NO).
Next, in step S1d, the ECU 60 detects the vehicle speed Vv using
the vehicle speed sensor 74 and determines whether the vehicle 20
is moving (during displacement). If the vehicle 20 is moving, in
step S1e, the ECU 60 determines whether the position differential
value vdplpe and/or the time differential value vdtlpe is less than
or equal to a threshold (position differential threshold dpth, time
differential threshold dtth), as expressed in the following
expressions (12) and (13). vdplpe.ltoreq.dpth (12)
vdtlpe.ltoreq.dtth (13)
In step S1e, if at least one determination is positive (step S1e:
YES), it is determined whether the threshold time Tth of a minute
time has passed in step S1f. If the threshold time Tth has passed
(step S1f: YES), the detection range inside/outside determination
unit 108 determines that the power reception coil 12 of the vehicle
20 is within the detection range outside region Dout (out of
detection range) in step S1g.
On the other hand, if the weak voltage value vlpe is more than or
equal to the weak voltage threshold vlpeth in the determination of
step S1c described above (step S1c: YES) or at least one
differential value exceeds the threshold in the determination of
step S1e (step S1e: NO), the detection range inside/outside
determination unit 108 determines that the power reception coil 12
of the vehicle 20 is within the detection range inside region Din
(within detection range) in step S1h.
Next, in step S1i, the initial position/parameter setting unit 112
determines whether the power reception coil 12 of the vehicle 20
enters (transits to) the detection range inside region Din from the
detection outside region Dout.
In a case where the entry (transition) does not occur (step S1i:
NO), in other words, in a case where the power reception coil 12 of
the vehicle 20 remains within the detection range outside region
Dout or the detection range inside region Din, the initial
position/parameter setting unit 112 determines that there is no
parameter reset request in step S1j.
On the other hand, in a case where the entry (transition) occurs
(step S1i: YES), in other words, in a case where the power
reception coil 12 of the vehicle 20 enters (transits to) the
detection range inside region Din from the detection range outside
region Dout, the initial position/parameter setting unit 112
determines that there are a parameter reset request and an
initialization request in step S1k.
Next, in step S1l, if there are the parameter reset request and the
initialization request (step S1l: YES), the initial
position/parameter setting unit 112 resets the weak voltage
integrated value vilpe to zero and performs the initialization
process to set the moving amount cvp to the initial position
xint(xint, 0) in step S1m.
In step S1l, if there are not the parameter reset request and the
initialization request (step S1l: NO), the moving amount detection
unit 110 obtains an X-axis moving amount component and a Y-axis
moving amount component of the moving amount cvp of the vehicle 20
on the basis of, for example, the vehicle speed Vv, vehicle
information such as a wheel base length, the steering angle
.theta.s in step S1n, on the assumption that the traveling speed is
very slow.
Note that the moving amount cvp can be obtained by using a
positioning device such as a GPS device or by using an inertial
navigation.
FIG. 16 is a detailed flowchart of the process in step S2 used for
an explanation of the calculation process of the weak voltage
integrated value vilpe.
In step S2a, in a case where the power reception coil 12 is within
the close-distance region Dn (see FIG. 6), the weak voltage value
vlpe is corrected (LPE induced voltage correction) in consideration
of an influence of the induced voltage generated due to the vehicle
speed Vv.
Next, in step S2b, it is determined whether there are the parameter
reset/initialization requests. If there are the parameter
reset/initialization requests (step S2b: YES), moreover, the
positive/negative determination unit 118 determines whether parking
is forward parking or backward parking with reference to the shift
position Sp obtained by the shift position sensor 79, in step
S2c.
In the forward parking, the weak voltage integrated value
calculation unit 115 assigns the weak voltage integrated value
vilpe as an initial value of the integrated value with a value on
the x-axis set to be negative in step S2d.
In the backward parking, the weak voltage integrated value
calculation unit 115 assigns the weak voltage integrated value
vilpe as the initial value of the integrated value with a value on
the x-axis set to be positive in step S2e.
In the determination in step S2b, if there are not the parameter
reset/initialization requests, the weak voltage integrated value
calculation unit 115 confirms that the power reception coil 12 of
the vehicle 20 is within the detection range inside region Din in
step S2f. After that, in step S2g, the weak voltage integrated
value calculation unit 115 determines whether the vehicle speed Vv
is 0 [km/h]. If the vehicle 20 is in the stop state (step S2g:
YES), a voltage static characteristic correction process of the
weak voltage integrated value vilpe is performed in step S2h.
In this voltage static characteristic correction process, in order
to eliminate the error integrated in the weak voltage integrated
value vilpe and reset, each of the very-close-distance region Dc,
the close-distance region Dn, and the far-distance region Df is
determined based on the current weak voltage integrated value
vilpe, and for each region, the value on the weak voltage
integrated value characteristic 204 corresponding to the current
value of the weak voltage value vlpe, that is, a reference value is
assigned as the weak voltage integrated value vilpe that is a reset
value.
In the determination in step S2g, if the vehicle speed Vv is not
zero and the vehicle 20 is traveling (step S2g: NO), the weak
voltage integrated value calculation unit 115 calculates the weak
voltage integrated value vilpe in step S2i.
Note that in consideration that the vehicle 20 starts to travel
from the stop state in the detection range inside region Din, a
backup value held when the vehicle speed Vv was zero previously is
used as a value of the weak voltage integrated value vilpe.
FIG. 17 and FIG. 18 are detailed flowcharts (1/2 and 2/2) used for
an explanation of the x-axis positive/negative determination
process for the power reception pad (power reception coil 12)
relative to the power transmission pad 21 (power transmission coil
11) in step S3 and the detection process (calculation process) of
the relative position in step S4, respectively.
In step S3a in FIG. 17, information of the z-axis height zh between
the charging station 30 and the power reception coil 12 is obtained
and the weak voltage value characteristic 202 suitable for the
z-axis height zh is set (selected), for example.
In step S3b, the positive/negative determination unit 118 checks a
detection range inside/outside determination result (flag in
programs) obtained in steps S1g, S1h described above.
In a case where the power reception coil 12 is not in the detection
range inside region Din (step S3b: NO), that is, in a case where
the power reception coil 12 is within the detection range outside
region Dout, in step S3c, the positive/negative determination unit
118 checks the determination result of the shift position Sp in
step S2c. If the shift position Sp is the reverse position R, it is
determined that the x-axis position of the power reception coil 12
is "positive" in step S3d. If the shift position Sp is the drive
position D, it is determined that the x-axis position of the power
reception coil 12 is "negative" in step S3e.
On the other hand, in step S3b, if it is determined that the power
reception coil 12 is within the detection range inside region Din
(step S3b: YES), it is determined whether the power reception coil
12 is within the very-close-distance region Dc or within the
separation distance region Ds in step S3f.
In the determination in step S3f, for example, if the detected weak
voltage value vlpe is more than or equal to the weak voltage value
(threshold) vlpec (see FIG. 6), it is determined that the power
reception coil 12 is within the very-close-distance region Dc. If
the detected weak voltage value vlpe is less than the weak voltage
value (threshold) Vlpec, it is determined that the power reception
coil 12 is within the separation distance region Ds.
If the power reception coil 12 is within the separation distance
region Ds, in step S3g, it is determined whether the weak voltage
integrated value vilpe is less than, or more than or equal to the
weak voltage integrated value (threshold) vilpec (see FIG. 6).
If the weak voltage integrated value vilpe is less than the weak
voltage integrated value (threshold) vilpec, the positive/negative
determination unit 118 determines that x-axis position is
"positive" in step S3h. If the weak voltage integrated value vilpe
is more than or equal to the weak voltage integrated value
(threshold) vilpec, the positive/negative determination unit 118
determines that the power reception coil 12 is within the
separation distance region Ds (see FIG. 9) on a side where the
vehicle 20 (power reception coil 12) has passed by the origin o of
the power transmission coil 11 and the x-axis position is
"negative" in step S3i.
In the determination in step S3f, if it is determined that the
power reception coil 12 is within the very-close-distance region
Dc, in order to determine positive/negative in the
very-close-distance region Dc, it is determined whether the shift
position Sp is the reverse position R or the drive position D in
step S3j.
If the shift position Sp is the reverse position R, it is
determined whether at least one of the weak voltage position
differential value vdplpe and the weak voltage time differential
value vdtlpe is a positive value in step S3k. If the value is
positive, it is determined that the x-axis position is "positive"
in step S31 since the power reception pad 22 (power reception coil
12) is approaching the power transmission pad 21 (power
transmission coil 11). If the value is negative, it is determined
that the x-axis position is "negative" in step S3m since the power
reception pad 22 (power reception coil 12) has passed and is going
away from the power transmission pad 21 (power transmission coil
11).
In the determination in step S3j, if the shift position Sp is the
drive position D, it is determined whether at least one of the weak
voltage position differential value vdplpe and the weak voltage
time differential value vdtlpe is a positive value in step S3n. If
the value is positive, it is determined that the x-axis position is
"negative" in step S3o since the power reception pad 22 (power
reception coil 12) is approaching the power transmission pad 21
(power transmission coil 11). If the value is negative, it is
determined that the x-axis position is "positive" in step S3p since
the power reception pad 22 (power reception coil 12) has passed and
is going away from the power transmission pad 21 (power
transmission coil 11).
Next, in step S4a of the flowchart in FIG. 18, the relative
position calculation unit 116 determines whether the power
reception coil 12 is within the very-close-distance region Dc or
the separation distance region Ds in a manner similar to that of
the determination process in step S3f.
If it is determined that the power reception coil 12 is within the
separation distance region Ds, the relative radius ra (see FIG. 11,
etc.) is calculated with reference to the weak voltage value
characteristic 202 and the weak voltage integrated value
characteristic 204 by using the weak voltage value vlpe and the
weak voltage integrated value vilpe as arguments, respectively, in
step S4b.
If it is determined that the power reception coil 12 is within the
very-close-distance region Dc in step S4a, moreover, it is
determined whether the vehicle moving amount cvp shown in FIG. 11
is within the very-close-distance region Dc in step S4c. If the
vehicle moving amount cvp is within the very-close-distance region
Dc, the x-axis moving amount xvp is calculated based on the weak
voltage value vlpe in step S4d. If the vehicle moving amount cvp is
out of the very-close-distance region Dc, the relative radius ra is
calculated based on the weak voltage vlpe in step S4e.
Note that, in step S4d, the y-axis position is estimated with
reference to the weak voltage value characteristic 202 shown in
FIG. 12 as described in the fifth example.
Next, in step S4f, it is determined whether the y-axis moving
amount yvp is less than or equal to a threshold. If the y-axis
moving amount yvp is not less than or not equal to the threshold
(step S4f: NO), the xy-axis position ra(x, y) is calculated, e.g.,
using the expressions (10) and (11) on the basis of the initial
position xint, the relative radius ra, and the moving amount cvp of
the vehicle 20 in step S4g.
In the determination in the step S4f, if the Y-axis moving amount
yvp of the vehicle is less than or equal to the threshold (step
S4f: YES), the x-axis position x is calculated (x-axis position x
is approximated to relative radius ra) in step S4h, and the y-axis
position is calculated as a Y-axis moving amount ybp of the vehicle
(see FIG. 11, FIG. 12) in step S4i.
[Summary and Modification]
As described above, the aforementioned non-contact power
transmission system 10 includes the charging station 30 including
the power transmission coil 11 as the power transmission unit
configured to transmit the weak power for positioning, and the
vehicle 20 including the power reception coil 12 as the power
reception unit configured to receive the weak power without
contact.
The ECU 60 as the control unit of the vehicle 20 includes the
voltage value detection unit 102 configured to detect the weak
voltage value vlpe corresponding to the amount of the weak power
received by the power reception coil 12, the moving amount
detection unit 110 configured to detect the moving amount cvp (xvp)
of the vehicle 20; and the moving direction detection unit 111
configured to detect the moving direction of the vehicle 20. The
position of the power reception coil 12 relative to the power
transmission coil 11 is detected on the basis of the weak voltage
value vlpe, the moving amount cvp (xvp), and the moving direction
that are detected.
In this manner, on the basis of the detected weak voltage value
vlpe, the distance (radial distance) from the power transmission
coil 11 to the power reception coil 12 is detected, and moreover
the moving amount cvp (xvp) and the moving direction of the vehicle
20 are detected. Thus, the two-dimensional relative position of the
power reception unit (power reception coil 12) to the power
transmission unit (power transmission coil 11) can be accurately
detected.
In this case, the ECU 60 of the vehicle 20 further includes the
significance determination unit 104 configured to determine whether
the weak voltage value vlpe detected by the voltage value detection
unit 102 is significant; and the initial position/parameter setting
unit 112, wherein when the voltage value detected by the voltage
value detection unit 102 has increased from zero while the vehicle
20 travels toward the power transmission coil 11 in order to detect
the weak power, the significance determination unit 104 is
configured to determine that the weak voltage value vlpe is
significant.
In addition, the initial position/parameter setting unit 112 is
configured to set the position at which it is determined that the
weak voltage value vlpe is significant as the initial position xint
of the power reception coil 12 for positioning, and reset the
moving amount or the like as the parameter.
In this manner, the distance from the power transmission coil 11
where the weak voltage value vlpe becomes significant is obtained
in advance relative to the power reception coil 12 with a
predetermined z-axis height zh (a distance between power
transmission coil 11 and power reception coil 12 when centers
thereof coincide with each other in plan view) and a predetermined
shape; therefore, when the weak voltage value vlpe is detected, the
detected position is set to the initial position xint of the power
reception coil 12 for positioning and the parameter is reset (set
to zero). After that, the vehicle 20 is driven toward the center of
the power transmission coil 11 by a known distance so that the
power reception coil 12 is moved; thus, the vehicle 20 can be
positioned accurately at the position where the power reception
efficiency of the main charging is the optimum (position where the
center of the power reception coil 12 coincides with the center of
the power transmission coil 11 in plan view).
In other words, the distance to the power transmission coil 11 is
shortened while the position of the power reception coil 12
relative to the power transmission coil 11 is known, so that
positioning can be performed certainly.
Moreover, the ECU 60 of the vehicle 20 further includes the
significance determination unit 104 configured to determine whether
the weak voltage value vlpe detected by the voltage value detection
unit 102 is significant; the differentiation unit 106 as the
initial position determining differentiation unit configured to
obtain the differential value of the weak voltage value vlpe
detected by the voltage value detection unit 102; and the initial
position/parameter setting unit 112, wherein: the significance
determination unit 104 is configured to determine that the weak
voltage value vlpe is significant when the differential value of
the voltage value detected by the voltage value detection unit 102,
which is obtained by the differentiation unit 106, has increased
from zero while the vehicle 20 travels toward the power
transmission coil 11 in order to detect the weak power.
The initial position/parameter setting unit 112 is configured to
set the position at which it is determined that the weak voltage
value vlpe is significant as the initial position xint of the power
reception coil 12 for positioning, and reset the parameter.
In this manner, since the distance from the power transmission coil
11 where the weak voltage value vlpe becomes significant is
obtained in advance relative to the power reception coil 12 with
the predetermined z-axis height zh and the predetermined shape;
therefore, when the initial position determining differential value
of the voltage value d(vlpe)/dx or d(vlpe)/dt has increased from
zero, it is regarded that the weak voltage value vlpe is detected
and the detected position is set to the initial position xint of
the power reception coil 12 for positioning and the parameter is
reset. After that, the vehicle 20 is driven toward the center of
the power transmission coil 11 by a known distance so that the
power reception coil 12 is moved; thus, the vehicle 20 can be
positioned accurately at the position where the power reception
efficiency of the main charging is the optimum (position where the
center of the power reception coil 12 coincides with the center of
the power transmission coil 11 in plan view).
In other words, the distance to the power transmission coil 11 is
shortened while the position of the power reception coil 12
relative to the power transmission coil 11 is known, so that
positioning can be performed certainly.
If the differential value is the time differential value
d(vlpe)/dt, the significance can be determined and the initial
position can be set during the travel, and if the differential
value is the position differential value d(vlpe)/dx, the
significance can be determined and the initial position can be set
regardless of the vehicle speed Vv.
The ECU 60 further includes the weak voltage value characteristic
storage unit 200v configured to store in advance the weak voltage
value characteristic 202 expressing the correspondence relation
between the weak voltage value vlpe and the radial distance from
the power transmission coil 11 to the power reception coil 12,
wherein the moving amount detection unit 110 can detect the
distance x from the power transmission coil 11 to the power
reception coil 12 by detecting the moving amount xvp from the
initial position xint to the power reception coil 12 with reference
to the weak voltage value characteristic 202 using the weak voltage
value vlpe detected by the voltage value detection unit 102 as an
argument.
In this manner, the weak voltage value characteristic 202 is
referred to by using the detected weak voltage value vlpe as an
argument and thus, the distance x from the power transmission coil
11 to the power reception coil 12 is detected. Therefore, the
accurate position (distance) of the power reception coil 12
relative to the power transmission coil 11 can be calculated.
Furthermore, in the weak voltage value characteristic 202, the weak
voltage value vlpe becomes the maximum value when the position of
the power reception coil 12 coincides with the position of the
power transmission coil 11; therefore, by stopping the vehicle 20
when the maximum value is detected, positioning can be terminated
at the position where the power reception efficiency of the main
charging is the optimum (maximum).
In addition, the ECU 60 further includes the weak voltage
integrated value calculation unit 115 configured to calculate the
weak voltage integrated value vilpe corresponding to the integrated
value of the weak voltage value vlpe that is detected, and the weak
voltage integrated value characteristic storage unit 200i
configured to store in advance the weak voltage integrated value
characteristic 204 expressing the correspondence relation between
the weak voltage integrated value vilpe and the distance from the
power transmission coil 11 to the power reception coil 12, wherein
the distance x from the power transmission coil 11 to the power
reception coil 12 is detected by detecting the moving amount xvp
from the initial position xint with reference to the weak voltage
integrated value characteristic 204.
Even if there is the place (position) in the route of the straight
road connecting between the initial position xint and the power
transmission coil 11 where the electromagnetic coupling degree
between the power transmission coil 11 and the power reception coil
12 increases or decreases, the weak voltage integrated value vilpe
monotonically increases because the weak voltage value vlpe is a
positive value. Therefore, by detecting the moving amount xvp from
the initial position xint with reference to the weak voltage
integrated value characteristic 204, the distance x from the power
transmission coil 11 to the power reception coil 12 can be detected
certainly.
The ECU 60 further includes the weak voltage integrated value
calculation unit 115 configured to calculate the weak voltage
integrated value vilpe corresponding to the integrated value of the
weak voltage value vlpe that is detected, and the weak voltage
integrated value characteristic storage unit 200i configured to
store in advance the weak voltage integrated value characteristic
204 expressing the correspondence relation between the weak voltage
integrated value vilpe and the distance from the power transmission
coil 11 to the power reception coil 12, wherein in the
very-close-distance region Dc of the power transmission coil 11
where the weak voltage value vlpe monotonically increases as the
moving amount xvp increases, the distance from the power
transmission coil 11 is calculated with reference to the weak
voltage value characteristic 202, and in the separation distance
region Ds that is farther than the very-close-distance region Dc
and that includes the region where the weak voltage value vlpe does
not increase monotonically although the moving amount xvp
increases, the distance from the power transmission coil 11 is
calculated with reference to the weak voltage integrated value
characteristic 204.
In the separation distance region Ds including the close-distance
region Dn where the weak voltage value vlpe in the weak voltage
value characteristic 202 does not increase although the distance
between the power transmission coil 11 and the power reception coil
12 becomes shorter, the distance to the power reception coil 12 can
be detected with reference to the weak voltage integrated value
characteristic 204 obtained by integrating the weak voltage value
characteristic 202; thus, the distance x from the power
transmission coil 11 to the power reception coil 12 can be detected
with high robustness.
In this case, in the very-close-distance region Dc, the amount of
increase of the weak voltage value vlpe (position increase amount)
that increases monotonically in accordance with the increase of the
moving amount xvp increases, and when the position of the power
transmission coil 11 and the position of the power reception coil
12 coincide with each other in the plan view, the maximum value and
the position increase amount become zero. Therefore, for example,
by obtaining a point of inflection (position where the differential
value changes from the positive value to zero) from the position
differential value d(vlpe)/dx of the weak voltage value vlpe, the
positioning can be performed more accurately, and the charging can
be performed at the maximum transmission efficiency position.
Accordingly, the charging efficiency can be optimized.
In this case, when the direction where the power reception coil 12
approaches the power transmission coil 11 is referred to as the
approaching direction and the direction where the power reception
coil 12 is separated from the power transmission coil 11 is
referred to as the separation direction, the ECU 60 is configured
to determine whether the direction of the power reception unit 12
is the approaching direction or the separation direction depending
on the position differential value d(vlpe)/dx of the weak voltage
value vlpe in the region (very-close-distance region Dc of the
power transmission coil 11 where the weak voltage value vlpe
monotonically increases as the moving amount xvp increases) where
the weak voltage value vlpe is more than or equal to the weak
voltage value (threshold) vlpec (predetermined voltage value), and
determine whether the direction is the approaching direction or the
separation direction depending on the position differential value
d(vilpe)/dx of the weak voltage integrated value vilpe in the
region (separation distance region Ds that is farther than the
very-close-distance region Dc and that includes the region where
the weak voltage value vlpe does not increase monotonically
although the moving amount xvp increases) where the weak voltage
value vlpe is less than the weak voltage value (threshold) vlpec
(predetermined voltage value).
Thus, whether the power reception coil 12 moves to the approaching
direction toward (direction to get close to) the power transmission
coil 11 or to the separation direction (direction to go away) can
be determined certainly. Therefore, for example, it is possible to
prevent the power transmission coil 11 and the power reception coil
12 from being displayed inversely in the in-vehicle display unit
72.
The ECU 60 further includes the display unit 72 to serve as the
notification unit configured to set the optimum vehicle speed
(target vehicle speed Vvtar) to position the power reception coil
12 at the power transmission coil 11, and notify the occupant of
the optimum vehicle speed (target vehicle speed Vvtar) or the order
related to the vehicle speed Vvtar.
In this manner, the driver's operation of the accelerator pedal 77
for positioning can be appropriately assisted.
In particular, the vehicle 20 includes the display unit 72, and the
ECU 60 is configured to cause the display unit 72 to display the
target accelerator pedal opening .theta.atar to achieve the optimum
vehicle speed Vv and the current accelerator pedal opening
.theta.ap, as the order related to the vehicle speed Vv.
In this manner, by displaying the target accelerator pedal opening
.theta.atar and the current accelerator pedal opening .theta.ap at
the same time in the display unit 72, the driver's operation of the
accelerator pedal 77 for positioning can be assisted more
specifically so that the driver can easily understand.
The ECU 60 includes the steering angle sensor 78 configured to
detect the steering angle .theta.s of the vehicle 20, and the ECU
60 is configured to cause the display unit 72 to display the
steering operating direction of the vehicle 20 on the basis of the
detected steering angle .theta.s and the position of the power
reception coil 12 relative to the power transmission coil 11.
By displaying the steering operating direction of the vehicle 20 in
the display unit 72, the driver's steering operation for
positioning can be assisted more specifically so that the driver
can easily understand.
[Modification]
In the non-contact power transmission system 10 according to the
aforementioned embodiment, the vehicle 20 having received the weak
power for positioning that is transmitted from the charging station
30 or the driver of the vehicle 20 performs the positioning of the
vehicle 20 at the charging station 30 on the basis of the weak
power. However, the present invention is not limited to this
example, and the charging station 30 having received the weak power
for positioning that is transmitted from the vehicle 20 may cause
the vehicle 20 or the driver of the vehicle 20 to perform the
positioning of the vehicle 20 at the charging station 30 on the
basis of the weak power while communicating with the vehicle
20.
In this case, in the vehicle 20, the coil for transmitting the weak
power and the coil for the main charging may be formed as one coil
or formed separately. In the charging station 30, the coil for
receiving the weak power and the power transmission coil 11 may be
formed as one coil or formed separately. The ECU 60 of the vehicle
20 and the power source ECU 61 of the charging station 30
communicate to, for example, transmit the information from the
charging station 30 to the vehicle 20 side during positioning, so
as to perform the positioning process in cooperation.
That is to say, in this modification, the non-contact power
transmission system includes the vehicle including the power
transmission unit (power transmission coil) that transmits weak
power for positioning, and the charging station including the power
reception unit (power reception coil) that receives the weak power
without contact.
The control unit of the charging station according to this
modification includes the voltage value detection unit that detects
the weak voltage value corresponding to the amount of the weak
power received in the power reception unit, the moving amount
detection unit that detects the moving amount of the vehicle, and
the moving direction detection unit that detects the moving
direction of the vehicle, wherein the position of the power
reception unit relative to the power transmission coil is detected
on the basis of the weak voltage value, the moving amount, and the
moving direction that are detected.
According to this modification, the distance from the power
reception unit to the power transmission coil is detected on the
basis of the detected weak voltage value, and moreover the moving
amount is detected on the basis of the change in level of the
detected weak voltage value and furthermore, the moving direction
is detected. Thus, the position (distance) of the power reception
unit relative to the power transmission coil can be detected
accurately.
The present invention is not limited to the above embodiments and
various structures can be employed based on the description of the
present specification.
* * * * *